EP2686143A2 - Dispositif, système et procédé d'étalonnage de cellule d'objet de travail robotique - Google Patents

Dispositif, système et procédé d'étalonnage de cellule d'objet de travail robotique

Info

Publication number
EP2686143A2
EP2686143A2 EP12757103.2A EP12757103A EP2686143A2 EP 2686143 A2 EP2686143 A2 EP 2686143A2 EP 12757103 A EP12757103 A EP 12757103A EP 2686143 A2 EP2686143 A2 EP 2686143A2
Authority
EP
European Patent Office
Prior art keywords
robot
projecting
tool
plane
calibration device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP12757103.2A
Other languages
German (de)
English (en)
Inventor
Matthew E. TROMPETER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP2686143A2 publication Critical patent/EP2686143A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39033—Laser tracking of end effector, measure orientation of rotatable mirror

Definitions

  • the present invention relates to a calibration device, system, and method for an industrial robot and, more particularly, to a calibration device, system, and method for the industrial robot provided with an imaging device of a visual sensor for detecting a working tool and a working position.
  • U.S. Patent Application Disclosure No. 20090157226 discloses a robot-cell calibration system for a robot and its peripheral.
  • the system includes an emitter attached to the robot or its peripheral and emits a laser beam and a receiver also mounted to the robot or its peripheral at a point to permit calibration and for receiving the laser beam and to permit calculations to determine the dimension between the emitter and the receiver.
  • U.S. Patent No. 6,408,252 discloses a calibration system and displacement measurement device for calibrating a robot system.
  • the system comprises a linear displacement measurement device in conjunction with a robot calibration system.
  • the linear displacement measurement device comprises an elongated member, a drum, a shaft, a drum displacement mechanism and a drum rotation sensor.
  • the drum is displaced axially upon the shaft as the drum rotates when the elongated member Is moved.
  • the drum rotation sensor provides accurate information regarding the distance the elongated member travels.
  • the displacement measuring device is used in an iterative manner with the calibration system for the purpose of the calibration of a robotic device.
  • U.S. Patent No. 6,321 ,137 discloses a method for calibration of a robot inspection system.
  • the system is used for inspecting a work piece to maintain the accuracy of the robot during inspection of work pieces on a production basis.
  • the system includes means for storing a mathematical model of the robot, means for measuring the position of a target, and then calibrating the robot based upon input from the mathematical model and the position of the target.
  • U.S. Patent No. 6,044,308 discloses a method for calibration of pose of a tool contact point of a robot controlled tool with respect to a tool sensor means in which the robot controlled tool is attached at an end-point of the robot.
  • a tool contact point sensor is located in a preselected second pose with respect to the reference fixture for sensing position of the tool contact point.
  • the method includes positioning the tool sensor so that the reference fixture is in a field of view of the tool sensor and calculating a pose of the robot end point with respect to the robot frame of reference, calculating a pose of the reference fixture with respect to the tool sensor means from a sensed position of the four topographically defined features of the reference fixture, and calculating a position of the tool contact point with respect to the reference fixture from a sensed position of the tool contact point with respect to the tool contact point sensor means.
  • the robotic work object cell calibration device, system, and method of the present invention addresses these objectives and these needs.
  • the calibration device used in the robotic work object cell calibration system and method of the present invention is initially placed in a selected position on a fixture or work piece on the shop floor proximate to the robot.
  • the calibration device emits a pair of beam-projecting lasers from an E-shaped extension extending from a central frame.
  • the beam-projecting lasers serve as a crosshair, intersecting at a tool contact point.
  • the calibration device includes a horizontal frame member that includes a pair of opposing frame ends, and a vertical frame member that includes a pair of opposing frame ends.
  • a plane-projecting laser is preferably disposed at each frame end, respectively, and a projected laser plane is emitted from each of the plane-projecting lasers, respectively.
  • the plane-projecting lasers are used to adjust the roll, yaw, and pitch of the robot tool positioned at the tool contact point on the shop floor.
  • the tool contact point is aligned to the horizontal beam-projecting lasers emitted from the calibration device.
  • the horizontal and vertical plane-projecting lasers align the robot tool for roll, yaw, and pitch.
  • the robotic work object cell calibration system includes a calibration device.
  • the calibration device emits a pair of beam-projecting lasers from an E-shaped extension extending from a horizontally-disposed central frame.
  • the beam-projecting lasers serve as a crosshair, intersecting at a tool contact point.
  • the calibration device includes a horizontal frame member that includes a pair of opposing frame ends, and a vertical frame member that includes a pair of opposing frame ends.
  • a plane- projecting laser is preferably disposed at each frame end, respectively, and a projected laser plane is emitted from each of the plane-projecting lasers, respectively.
  • the plane-projecting lasers are used to adjust the roll, yaw, and pitch of the robot tool relative to the tool contact point.
  • a second and third preferred embodiment of the calibration device for use in the robotic work object calibration system and method of the present invention comprises only two plane-projecting lasers attached to either the horizontal frame ends or the vertical frame ends. If only two plane-projecting lasers are used, adjustment is limited to either roll and yaw, roll and pitch, or yaw and pitch of the robot tool using said pair of plane-projecting lasers of said calibration device.
  • a fourth preferred embodiment of the calibration device for use in the robotic work object calibration system and method of the present invention comprises only one plane-projecting laser attached to the middle of the calibration device.
  • the laser head is capable of 360 degrees of rotation, enabling the robot tool to align first on the x-axis, then on the y-axis after the laser head has been rotated.
  • FIGURE 1 depicts the first preferred embodiment of the calibration device of the robotic work object calibration system and method of the present invention, with two beam-projecting lasers being used for aligning the tool contact point with the calibration device.
  • FIGURE 2 depicts the first preferred embodiment of the calibration device of the robotic work object calibration system and method of FIGURE 1 , with four plane- projecting lasers being emitted from extremities of the calibration device.
  • FIGURE 3 depicts an exploded view of the first preferred embodiment of the calibration device of the robotic work object calibration system and method of FIGURE 1 , further depicting the weld gun with the tool contact point of the weld gun aligned to with the two beam-projecting lasers.
  • FIGURE 4 depicts the exploded view of the first preferred embodiment of the calibration device of the robotic work object calibration system and method of FIGURE 3, further depicting the addition of two pairs of plane-projecting lasers emitted from the extremities of the calibration device for adjusting the roll, yaw, and pitch of the tool head of the weld gun.
  • FIGURE 5 depicts an assembly view of the first preferred embodiment of the calibration device of the robotic work object calibration system and method of FIGURE 1 , further depicting the calibration device being mounted onto a fixture with the robot tool head aligned to the two beam -projecting lasers using the tool contact point.
  • FIGURE 6 depicts an assembly view of the first preferred embodiment of the calibration device of the robotic work object calibration system and method of FIGURE 5, further depicting the four plane-projecting lasers being used for adjusting the roll, yaw, and pitch of the tool head of the robot.
  • FIGURE 7 depicts another exploded view of the first preferred embodiment of the calibration device of the robotic work object calibration system and method of FIGURE 1 , further depicting the calibration device being mounted to the fixture with the robot tool aligned to the tool contact point alignment lasers and the roll, yaw, and pitch alignment lasers.
  • FIGURE 8 depicts an assembly view of a second preferred embodiment of the calibration device of the robotic work object calibration system and method of the present invention, two plane-projecting lasers being emitted along the horizontal axis of the calibration device, a pair of beam-projecting lasers intersecting at a tool contact point, the robot tool being aligned to the tool contact point and to this pair of horizontal plane-projecting lasers.
  • FIGURE 9 depicts an assembly view of a third preferred embodiment of the calibration device of the robotic work object calibration system and method of the present invention, two plane-projecting lasers being emitted along the vertical axis of the calibration device, a pair of beam-projecting lasers intersecting at a tool contact point, the robot tool being aligned to the tool contact point and to this pair of vertical plane-projecting lasers.
  • FIGURE 10 depicts a fourth preferred embodiment of the calibration device of the robotic work object calibration system and method of the present invention, one plane-projecting laser being emitted along the vertical axis of the calibration device, and a beam-projecting laser intersecting one of the vertical plane-projecting lasers at a tool contact point.
  • FIGURE 11 A depicts a robot and a fixture for use on a shop floor in a prior art embodiment without the calibration device of FIGURE 1
  • FIGURES 11 B and 11C depicting a similar robot, fixture with the calibration device used in the present invention, showing how in a simplified manner the calibration device is used to obtain a new zero location and calibrate the path between the fixture and the robot.
  • FIGURES 1 and 2 disclose the first preferred embodiment of the calibration device [10] of the robotic work object calibration system and method of the present invention.
  • the calibration device [10] is used to calibrate the work path of a robot tool based on a tool contact point (point in space) [60].
  • the known point in space [60] is defined in three dimensions (X, Y, and Z) and relative to their rotational axes R x (pitch), R y (yaw), and R z (roll).
  • the calibration device [10] includes a horizontal frame member [22] that includes a pair of opposing frame ends [32A and 32B], and a vertical frame member [24] that includes a pair of opposing frame ends [32C and 32D].
  • a plane-projecting laser [41 , 42, 43, and 44] is preferably disposed at each frame end [32A, 32B, 32C, and 32D], respectively, and a projected laser plane [51 , 52, 53, and 54] is emitted from each of the plane-projecting lasers [41 , 42, 43, and 44], respectively.
  • the center arm (not numbered) of the E-shaped structure [25] is shorter than the two end arms [26A and 26B],
  • a first beam-projecting laser [58] is emitted from the shortened center arm of the "E- shaped" structure [25] disposed at the proximate center of the calibration device [10].
  • a second beam-projecting laser [56] is emitted from one of the arms [26A] of an E-shaped structure [25] and is directed into the opposing arm [26B].
  • the first beam-projecting laser [58] intersects and is essentially perpendicular and coplanar with the second beam-projecting laser [56] at a known point in space [60], defined in three dimensions in terms of X, Y, and Z coordinates.
  • laser beam [58] is essentially coplanar with the two projected laser planes [51 and 52] emitted from the plane-projecting lasers [41 and 42] emitted from frame ends [32A and 32B].
  • beam-projecting laser [58] is essentially coplanar with the two projected laser planes [53 and 54] emitted from the plane- projecting lasers [43 and 44] emitted from frame ends [32C and 32D].
  • the calibration device [10] is mountable onto a fixture [90] and enables a robot work path to be calibrated relative to the known point in space [60].
  • the plane-projecting lasers [41 , 42, 43, and 44] project the four projected laser planes [51 , 52, 53, and 54, respectively] from the frame ends [32A, 32B, 32C, and 32D, respectively] of the calibration device [10].
  • the plane-projecting lasers [41 , 42, 43, and 44] are red laser modules, having focused lines (3.5v-4.5v 16mm 5mw).
  • the beam-projecting lasers [56 and 58] are focusable points that project the two laser beams emitted from the arm [26A] of the calibration device [10].
  • the beam- projecting lasers [56 and 58] are red laser modules, having focusable dots (3.5v-4.5v 16mm 5mw).
  • FIGURE 3 depicts an exploded view of the calibration device [10] for use with a weld gun.
  • the tool contact point [60] of the weld gun is aligned with the two beam- projecting alignment lasers [56 and 58].
  • FIGURE 4 further depicts the addition of the four projected laser planes [51 , 52, 53, and 54, respectively] from the plane- projecting lasers [41 , 42, 43, and 44, respectively] for adjusting the roll, yaw, and pitch of the robot tool head [80].
  • FIGURE 5 depicts the calibration device [10] being mounted onto the fixture [90].
  • the robot tool head [80] is aligned to the two beam-projecting lasers [56 and 58] using the tool contact point [60].
  • FIGURE 6 further depicts the four projected laser planes [51 , 52, 53, and 54, respectively] from the plane-projecting lasers [41 , 42, 43, and 44, respectively] of work piece [10], which are used to adjust the roll, yaw, and pitch of the robot tool head [80].
  • FIGURE 7 depicts the calibration device [10] mounted onto the fixture [90] with the robot tool [80] aligned with the tool contact point [60] alignment laser beams [56 and 58] setting the X, Y, and Z coordinates.
  • FIGURE 8 depicts a second preferred embodiment of a calibration device [110] for use in the robotic work object calibration method of the present invention.
  • two projected laser planes [51 and 52] are emitted from two plane- projecting lasers [41 and 42, respectively] along the horizontal axis of the frame member [32] of the calibration device [110].
  • the robot tool [80] is aligned with the tool contact point [60] and with this pair of projected laser planes [51 and 52].
  • FIGURE 9 depicts a third preferred embodiment of the calibration device [210] for use in the robotic work object calibration method of the present invention.
  • two projected laser planes [53 and 54] are emitted from two plane- projecting lasers [43 and 44] are emitted along the vertical axis of the frame member [24] of the calibration device [210].
  • the robot tool [80] is aligned with the tool contact point [60] and with this pair of projected laser planes [53 and 54].
  • FIGURE 10 depicts yet another preferred embodiment of the calibration device [310] for use in the robotic work object calibration method of the present invention.
  • one plane projected laser [51] is emitted from plane-projecting laser [43] along the vertical axis of the calibration device [310].
  • a beam-projecting laser [56] intersects with the vertical plane-projecting laser [53] at a tool contact point [60].
  • the plane-projecting laser [51] has a rotating head capable of rotating 360°, enabling the robot tool to align first on the x-axis, then on the y-axis after the laser head has been rotated.
  • FIGURE 11 A depicts a robot [81] and a fixture [90] for use on a shop floor in a prior art embodiment without the calibration device of the present invention.
  • the CAD user selects a position on the tool to place that is best suited to avoid crashes with other tooling and for ease of access for the robot [81] or end-of-arm tooling.
  • the offline programs are then downloaded relative to the calibration device [10].
  • the calibration device [10] is then placed onto the tool or work piece in the position that is defined by the CAD user on the shop floor.
  • the robot technician then manipulates the tool contact point [60] of the robot tool [80] into the device and aligns it to the beam-projecting lasers [56 and 58] to obtain the difference between the CAD world and shop floor. This difference is then entered into the robot [81] and used to define the new calibration device [10]. This calibrates the offline programs and defines the distance and orientation of the tool, fixture, and peripheral.
  • the offline programming with the calibration device [10] on the fixture [90] enable the calibration device [10] to be touched up to the "real world position" of the fixture [90] relative to the robot [81]. If the fixture [90] ever needs to be moved or is accidently bumped, simply touch up the calibration device [10] and the entire path shifts to accommodate.
  • the robotic work cell calibrations method of the present invention is compatible with robotic simulation packages, including but not limited to, ROBCAD, Process Simulate, DELMIA, Roboguide and RobotStudio CAD software.
  • the beam-projecting lasers [56 and 58] and the projected laser planes [51 , 52, 53, and 54] are projected onto known features of the robot tool [80], and then used to calibrate the path of the robot tool [80] and measure the relationship of the fixture [90] relative to the robot tool [80].
  • the CAD user initially selects a position best suited on a tool or work piece to avoid crashes with other tooling and for ease of access for the robot or end-of-arm tooling.
  • the calibration device [10] preferably mounts onto a fixture [90] using a standard NAMM's hole pattern mount [40]. The mounts are laser cut to ensure the exact matching of hole sizes for the mounting of parts.
  • the calibration device [10] of the present invention has a zero point, a zero reference frame, and a zero theoretical frame in space, which is positioned on the fixture [90].
  • the calibration device [10] is placed onto the fixture [90], visually enabling the tool contact point of the weld gun to be orientated into the calibration device [10] obtaining the "real-world” relationship of the robot tool [80] to the fixture [90] while updating the calibration device [10] to this "real-world” position.
  • the robotic work object cell calibration system of the present invention requires that the position of the calibration device [10] correlate with the position of the robot tool [80] to calibrate the path of the robot tool [80] while acquiring the "real-world” distance and orientation of the fixture [90] relative to the robot tool [80].
  • the robotic work object cell calibration method positions the robot tool [80] with the calibration device [10] and determines the difference.
  • the robotic work object cell calibration method of the present invention is used to calibrate a "known" calibration device or frame (robotic simulation CAD software provided calibration device).
  • the robotic work object cell calibration method of the present invention works by projecting laser beams to a known X, Y, and Z position and defining known geometric planes used to adjust the roll, yaw, and pitch of the robot tool [80] relative to the tool contact point [60].
  • the laser is projected onto the robotic end of the robot arm tooling (weld guns, material handlers, mig torches, etc) where the user will manipulate the robot with end-of-arm tooling into these lasers to obtain the positional difference between the "known" off-line program (simulation provided calibration device) and the actual (shop floor) calibration device.
  • the reverse is also true - for instance; a material handler robot can carry the calibration device [10] to a know work piece with known features.
  • the CAD model of the calibration device [10] is placed in the robotic simulation CAD world.
  • the CAD user selects a position best suited on a tool or work piece to avoid crashes with other tooling and for ease of access for the robot or end-of-arm tooling.
  • the off-line programs are then downloaded relative to this calibration device [10].
  • the calibration device [10] will be placed onto the tool or work piece in the position that was defined by the CAD user on the shop floor.
  • the robot technician then manipulates the tool contact point [60] into the device, aligning it to the laser beams to obtain the difference between the CAD world and shop floor. This difference is then entered into the robot and used to define the new calibration device, thus calibrating the off-line programs and defining the distance and orientation of the tool, fixture, peripheral, and other key components.
  • the robotic work object cell calibration method of the present invention calibrates the paths to the robot [81 ] while involving the calibration of the peripherals of the robot.
  • the laser plane generating system deployed in the robotic work object cell calibration system and method of the present invention is well known in the art - see for example U.S. Patent 5,689,330 (Gerard, et al.), entitled “Laser Plane Generator Having Self- Calibrating Levelling System”; and U.S. Patent 6,314,650 (Falb), entitled “Laser System for Generating a Reference Plane”.
  • the robotic work object cell calibration system and method of the present invention aids in the kiting or reverse engineering of robotic systems for future use in conjunction with robotic simulation software allowing integrators the ability to update their simulation CAD files to the "real world" positions.
  • the technology uses existing body-in-white procedures, personnel computers and software and ways of communicating information amongst the trades.
  • plane-emitting laser from left-side of horizontal frame plane-emitting laser from right-side of horizontal frame. plane-emitting laser from upper vertical frame
  • projected laser plane from plane-emitting laser (41 ). projected laser plane from plane-emitting laser (42). projected laser plane from plane-emitting laser (43). projected laser plane from plane-emitting laser (44). laser beam from arm (26A)

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Laser Beam Processing (AREA)

Abstract

L'invention porte sur un système d'étalonnage de cellule d'objet de travail robotique, lequel système comprend un dispositif d'étalonnage qui émet une paire de lasers de projection de faisceau jouant le rôle de réticule, se croisant en un point de contact d'outil. Le dispositif d'étalonnage émet également quatre lasers de projection de plan, qui sont utilisés pour régler le lacet, le tangage et le roulis de l'outil de robot par rapport au point de contact d'outil. Initialement, le dispositif d'étalonnage est disposé dans une position sélectionnée sur une monture ou une pièce de travail sur le sol d'atelier. Le procédé d'étalonnage de cellule d'objet de travail robotique augmente la précision de la programmation hors ligne et diminue le temps d'apprentissage du robot. Le système et le procédé d'étalonnage de cellule d'objet de travail robotique sont plus simples, impliquent un coût d'investissement moindre, mettent en œuvre des coûts de fonctionnement moindres, que ceux de l'état de la technique, et peuvent être utilisés pour différents outils de robot sur un sol d'atelier sans avoir à effectuer un ré-étalonnage pour chaque outil de robot.
EP12757103.2A 2011-03-14 2012-03-14 Dispositif, système et procédé d'étalonnage de cellule d'objet de travail robotique Withdrawn EP2686143A2 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201161465080P 2011-03-14 2011-03-14
US201161518912P 2011-05-13 2011-05-13
US13/385,091 US9266241B2 (en) 2011-03-14 2012-02-01 Robotic work object cell calibration system
US13/385,797 US9061421B2 (en) 2011-03-14 2012-03-07 Robotic work object cell calibration method
PCT/US2012/000140 WO2012125209A2 (fr) 2011-03-14 2012-03-14 Dispositif, système et procédé d'étalonnage de cellule d'objet de travail robotique

Publications (1)

Publication Number Publication Date
EP2686143A2 true EP2686143A2 (fr) 2014-01-22

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EP12757103.2A Withdrawn EP2686143A2 (fr) 2011-03-14 2012-03-14 Dispositif, système et procédé d'étalonnage de cellule d'objet de travail robotique

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Country Link
US (2) US9266241B2 (fr)
EP (1) EP2686143A2 (fr)
JP (1) JP2014508050A (fr)
KR (1) KR20130141664A (fr)
CN (1) CN103442858A (fr)
AU (1) AU2012229542A1 (fr)
BR (1) BR112013023413A2 (fr)
CA (1) CA2828856A1 (fr)
MX (1) MX2013010355A (fr)
WO (1) WO2012125209A2 (fr)

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BR112013023413A2 (pt) 2017-03-01
JP2014508050A (ja) 2014-04-03
AU2012229542A1 (en) 2013-10-03
MX2013010355A (es) 2014-04-14
US9266241B2 (en) 2016-02-23
WO2012125209A2 (fr) 2012-09-20
KR20130141664A (ko) 2013-12-26
US20120265341A1 (en) 2012-10-18
US9061421B2 (en) 2015-06-23
WO2012125209A3 (fr) 2012-12-27
CN103442858A (zh) 2013-12-11
US20120283874A1 (en) 2012-11-08

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